ADD: Analytically Differentiable Dynamics for Multi-Body Systems with Frictional Contact
ACM Transactions on Graphics, pp. 1-15, 2020.
contact mechanicsdeformable modelsdifferentiable simulationoptimizationrigid-body dynamicsMore(1+)
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method circumvents the main difficulties inherent to the non-smooth nature of frictional contact. We combine this...More
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